WO2020248086A1 - 云台系统的控制方法及云台系统 - Google Patents

云台系统的控制方法及云台系统 Download PDF

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Publication number
WO2020248086A1
WO2020248086A1 PCT/CN2019/090467 CN2019090467W WO2020248086A1 WO 2020248086 A1 WO2020248086 A1 WO 2020248086A1 CN 2019090467 W CN2019090467 W CN 2019090467W WO 2020248086 A1 WO2020248086 A1 WO 2020248086A1
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WIPO (PCT)
Prior art keywords
pan
tilt
slide rail
controller
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/090467
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English (en)
French (fr)
Inventor
杨乃旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2019/090467 priority Critical patent/WO2020248086A1/zh
Priority to CN201980012188.2A priority patent/CN111699341B/zh
Publication of WO2020248086A1 publication Critical patent/WO2020248086A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • This application relates to the technical field of pan-tilt control, and in particular to a control method of a pan-tilt system and a pan-tilt system.
  • Hand-held gimbals are widely used because they can keep the load mounted on it in a stable posture, and can shoot smooth and unjittery images when used for shooting operations.
  • the load on it such as a camera, a camera, a smart phone, etc., generally requires the user to hold the camera with both hands or one hand, or use a supporting bracket to assist the camera to stand still on a certain plane.
  • the handheld PTZ has a certain degree of portability, it can no longer meet the needs of more professional shooting only relying on the user's handheld shooting or stand-assisted shooting.
  • the purpose of the present invention is to provide a control method of a pan/tilt system and a pan/tilt system to solve the technical problem that the existing handheld pan/tilt and the slide rail shooting device are not compatible, interchangeable, and work together.
  • the other part including the motor and the camera bracket is combined with the slide rail, and the linkage between the handheld pan/tilt and the slide rail is realized through the control terminal, which can combine the advantages of the handheld pan/tilt and the slide rail device to expand the use of both Scenes.
  • the first aspect of the embodiments of the present invention provides a method for controlling a pan-tilt system:
  • the pan/tilt system includes a controller, a pan/tilt, and a slide rail.
  • the pan/tilt is a two-axis or three-axis pan/tilt.
  • the pan/tilt and other components of the pan/tilt system are detachable and can be used separately after disassembly.
  • the control method specifically includes: the pan/tilt is installed on the slide rail, and a wired or wireless connection is established with the controller; the controller obtains the information input by the user and based on the input information A control signal is generated to control the attitude change of the pan/tilt and/or the movement of the pan/tilt relative to the slide rail.
  • the embodiment of the present invention also provides a pan/tilt head system, which adopts the following technical solutions:
  • a pan/tilt system includes a controller, a pan/tilt, and a slide rail.
  • the pan/tilt is a two-axis or three-axis pan/tilt.
  • the pan/tilt and other components of the pan/tilt system are detachable and can be separated after disassembly.
  • a photographing device is at least partially mounted on the pan/tilt; the pan/tilt is installed on the slide rail and establishes a wired or wireless connection with the controller; the controller obtains user input Information and generate a control signal according to the input information to control the attitude change of the pan/tilt and/or the movement of the pan/tilt relative to the slide rail.
  • the embodiment of the present invention mainly has the following beneficial effects for controlling the attitude change of the pan/tilt head and/or the movement of the pan/tilt head relative to the slide rail:
  • a control method of a pan/tilt system and a pan/tilt system The pan/tilt and the slide rail are combined, and the pan/tilt and the slide rail are linked.
  • the pan/tilt equipped with a camera is applied to the slide rail for shooting. It can also be used as a hand-held stabilizer in scenarios that are not suitable for slide rails, to solve the technical problems of incompatibility, interchangeability, and cooperation between the existing hand-held gimbal and slide rail shooting device.
  • the other part including the motor and the camera device bracket is combined with the slide rail, and the linkage of the handheld PTZ and the slide rail is realized through the control terminal, which can combine the advantages of the handheld PTZ and the slide rail device, expand the use scene of the two, and is convenient User choice and use make shooting more diverse.
  • Figure 1 is a flow chart of a method for controlling a pan-tilt system in an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the structure of the pan-tilt system in the embodiment of the present invention.
  • 3A is a schematic diagram of the structure of the pan-tilt in the embodiment of the present invention.
  • FIG. 3B is a schematic structural diagram of another form of the pan-tilt in the embodiment of the present invention.
  • the embodiment of the present application provides a method for controlling a pan/tilt system.
  • the pan/tilt may be installed on a sliding rail first, so that the pan/tilt and the controller establish a wired or wireless connection.
  • the controller obtains the information input by the user and generates a control signal according to the input information to control the attitude change of the pan/tilt and/or the movement of the pan/tilt relative to the slide rail.
  • the pan/tilt system includes a controller, a pan/tilt and a slide rail.
  • the pan/tilt can be either a two-axis pan/tilt or a three-axis pan/tilt.
  • the two-axis gimbal can be a two-axis gimbal including a pitch axis motor and a roll axis motor, or a two-axis gimbal including a yaw axis motor and a pitch axis motor, or it can include a yaw axis motor, roll Two-axis gimbal with axis motor.
  • the three-axis gimbal may be a three-axis gimbal that includes a yaw axis motor, a pitch axis motor, and a roll axis motor.
  • the above-mentioned pan/tilt can be used independently of the pan/tilt system, for example, directly used as a handheld pan/tilt, or as a load for drones and mobile vehicles.
  • the pan/tilt and the slide rail are combined, and the pan/tilt and slide rail are linked.
  • the pan/tilt equipped with the camera is applied to the slide rail for shooting.
  • the other part including the motor and the camera bracket is combined with the slide rail, and the linkage of the handheld gimbal and the slide rail is realized through the control terminal, which can combine the handheld gimbal and the slide rail device.
  • a pan-tilt system which includes a controller, a pan-tilt, and a sliding rail.
  • the PTZ is a two-axis or three-axis PTZ, the PTZ and other components of the PTZ system are detachable and can be used as a handheld PTZ after being disassembled; the camera is at least partially mounted on the PTZ On; the pan/tilt is installed on the slide rail and establishes a wired or wireless connection with the controller; the controller obtains the information input by the user and generates a control signal according to the input information to control the attitude of the pan/tilt Changes and/or the pan/tilt moves relative to the slide rail.
  • a control method of a pan/tilt system includes a controller, a pan/tilt, and a slide rail, the pan/tilt is a two-axis or three-axis pan/tilt, and the pan/tilt and other components of the pan/tilt system It can be disassembled and can be used as a handheld PTZ stand alone after disassembly.
  • the control method includes:
  • the pan/tilt is installed on the slide rail, and a wired or wireless connection is established with the controller;
  • the controller obtains information input by the user and generates a control signal according to the input information to control the attitude change of the pan/tilt and/or the movement of the pan/tilt relative to the slide rail.
  • the handheld PTZ can carry a load (such as a camera) for fixing the load, changing the height, inclination and/or direction of the load, or for keeping the load stably in a certain posture.
  • the handheld pan/tilt head of the embodiment of the present invention can also be used to carry other equipment other than a photographing device.
  • the handheld PTZ of the present application may also have other names, for example, load support frame, etc., which is not specifically limited in the embodiment of the present application.
  • the pan/tilt can also be used as a handheld stabilizer in use scenes that are not suitable for sliding rails.
  • the pan/tilt equipped with the camera to the slide rail for shooting
  • the pan/tilt and the slide rail In combination, the pan/tilt is installed on the slide rail, the pan/tilt and the slide rail are connected by wire or wirelessly, and the linkage of the handheld pan/tilt and the slide rail is realized through the control terminal.
  • the controller obtains the information input by the user and generates a control signal according to the input information to control the pan/tilt.
  • the posture change and/or the movement of the pan/tilt relative to the slide rail realizes the linkage of the handheld pan/tilt and the slide rail.
  • step S20 the control of the attitude change of the PTZ specifically includes:
  • S202 Perform feedback correction on the measured posture corresponding to the current posture information of the pan/tilt head to reach the target posture.
  • the measurement posture is calculated according to the angular velocity of the rotating shaft of the pan/tilt, the acceleration of the rotating shaft, and the rotation angle of the motor of the pan/tilt.
  • the angular velocity of the rotating shaft and the acceleration of the rotating shaft are obtained by inertial measurement sensors.
  • the inertial measurement sensors are accelerometers and gyroscopes, which are used to obtain the angular velocity and acceleration of each axis of the pan/tilt; the rotation angle of the motor of the pan/tilt is acquired by the Hall sensor.
  • the controller obtains the information input by the user and generates the control information of the pan/tilt.
  • the controller generates the target attitude of the pan/tilt according to the control information of the pan/tilt.
  • the controller acquires the deviation between the target attitude and the measured attitude.
  • inertial measurement sensors and Hall sensors measure the angular velocity of the rotation axis of the pan/tilt, the acceleration of the rotation axis, and the rotation angle of the motor of the pan/tilt, and finally eliminate the deviation and make the measured attitude reach the target attitude.
  • step S20 the controlling the movement of the pan-tilt relative to the slide rail specifically includes:
  • S204 Control the movement of the pan/tilt on the slide rail and/or the lifting of the slide rail.
  • the controller obtains the information input by the user and generates control information for the slide rail motion.
  • the slide rail motion includes the movement of the pan/tilt on the slide rail and the lifting of the slide rail.
  • the controller controls the pan/tilt. Move on the slide rail and control the elevation of the slide rail to adjust the height and position of the camera.
  • the pan/tilt moves on the slide rail, and a drive mechanism (such as a motor, a cylinder, etc.) is set to drive a transmission mechanism (such as a screw rod, a gear set, a turbine set, etc.) to drive the pan/tilt to move, and the slide rail rises and falls.
  • a drive mechanism such as a motor, a cylinder, etc.
  • a transmission mechanism such as a screw rod, a gear set, a turbine set, etc.
  • Step S20 the controller obtains the information input by the user and generates a control signal according to the input information, and controls the attitude change of the pan/tilt and/or the movement of the pan/tilt relative to the slide rail further includes:
  • S205 Control the shooting device to perform shooting and/or function selection of the shooting device.
  • step S20 the controller obtains the information input by the user and generates a control signal according to the input information to control the attitude change of the pan/tilt and/or the movement of the pan/tilt relative to the slide rail, which specifically includes :
  • S206 The controller receives information input by the terminal device and/or its own accessories of the pan-tilt system to set parameters of the pan-tilt system.
  • the terminal device is a mobile phone or a PC
  • the own accessory is a parameter adjustment screen.
  • the parameters of the pan/tilt system are set by the assistant software.
  • the assistant software receives the information obtained by the controller.
  • Both the pan/tilt and the slide rail can communicate with the assistant software, and can use terminal devices such as mobile phones or PCs to set up the cloud.
  • the parameters of the platform and the slide rail and can read the real-time angle of the rotating shaft and the slide rail position information, or use the own accessories of the PTZ system such as the parameter adjustment screen, can also achieve the above functions.
  • the assistant software sets the various parameters of the pan-tilt and slide rail rotation, click the start button, the pan-tilt and slide rail move according to the preset path and parameters, and send the information about the rotation of the pan-tilt itself to the assistant software .
  • the rotation information includes the total number of turns of the pan/tilt, the total angle of rotation, angular velocity, communication conditions, and rotation path.
  • the parameter of the pan/tilt system is at least one of rotation data of the rotation axis of the pan/tilt, movement data of the pan/tilt on the slide rail, and lift data of the slide rail.
  • the rotation data of the gimbal's shaft corresponds to the change of the gimbal's attitude.
  • the movement data of the gimbal on the slide rail and the lifting data of the slide rail correspond to the slide rail movement, that is, the slide rail movement includes the movement of the gimbal on the slide rail and
  • the lifting and lowering of the slide rail after setting the rotation data of the PTZ shaft, the movement data of the PTZ on the slide rail, and the lifting data of the slide rail in the assistant software, the PTZ and slide rail will proceed according to the preset path and parameters Movement, through the change of the pan/tilt's attitude, the movement of the pan/tilt on the slide rail and the lifting of the slide rail itself, the multi-position and multi-angle shooting of the camera is realized.
  • the rotation data of the rotation axis of the pan/tilt includes at least one of the following:
  • the rotation axis may be at least one of a roll axis, a pitch axis, and a translation axis.
  • the movement data of the pan/tilt on the slide rail includes at least one of the following:
  • the lifting data of the sliding rail includes at least one of the following:
  • the pan/tilt and slide rail move according to the preset path and parameters, so that the position and angle of the camera are adjusted.
  • the adjustment is more flexible.
  • the parameters of the pan-tilt system further include at least one of the working mode of the pan-tilt, the function selection of the pan-tilt, the function selection of the photographing device, and the user-defined parameter setting.
  • step S20 the controller obtains the information input by the user and generates a control signal according to the input information to control the attitude change of the pan/tilt and/or the movement of the pan/tilt relative to the slide rail, specifically include:
  • the controller receives the remote control signal of the remote control device to obtain the input information.
  • the remote control device receives the remote control signal input by the user, the remote control device and the controller are connected by wire or wireless, and the controller receives the information input by the user to control the change of the pan/tilt attitude, the movement of the pan/tilt on the slide rail and the slide rail The lift.
  • the remote control device includes at least one of a pan/tilt control lever, a camera control button, and an action button of a slide rail.
  • the remote control signal includes the rotation of the pan-tilt shaft, the selection of the pan-tilt working mode, the selection of the pan-tilt function, the movement of the pan-tilt on the slide rail, the lifting of the slide rail, and the execution of shooting by the camera , At least one of the functions of the camera.
  • the PTZ system can communicate with the terminal equipment, its own accessories, and remote control devices through a wireless communication module.
  • the controller detects the operations performed by the user on the terminal equipment, its own accessories, and remote control devices, and generates control signals through
  • the wireless communication module is sent to the pan-tilt system to control the movement of the pan-tilt system.
  • the wireless communication module includes at least one of a Bluetooth module, an infrared module, an ultra-wideband UWB module, and a wireless fidelity Wi-Fi module.
  • Step S20 After the controller obtains the information input by the user and generates a control signal according to the input information, after controlling the attitude change of the pan/tilt and/or the movement of the pan/tilt relative to the slide rail, the method further includes:
  • S209 The controller saves the movement information of the pan/tilt and the slide rail, so as to call it in the next operation.
  • the controller receives the movement information of the pan/tilt and slide track, and the controller saves the path and parameters that the slide track and pan/tilt have traveled. In this way Realize the pre-storage of parameters, call the saved parameters in the next run, to achieve a high degree of repeatable shooting.
  • the information about the movement of the pan/tilt and the slide rail includes the total number of turns the pan/tilt has turned, the total angle that the pan/tilt turns, the angular velocity of the pan/tilt rotation, the rotation path of the pan/tilt, and the movement of the pan/tilt At least one of the moving speed on the rail, the moving path of the pan/tilt on the sliding rail, the lifting speed of the sliding rail, the lifting path of the sliding rail, and the communication situation.
  • the control method of the pan/tilt system solves the technical problem that the existing handheld pan/tilt and the slide rail shooting device cannot be compatible, interchanged, and work together.
  • the other After removing part of the handle of the handheld pan/tilt, the other includes a motor And the part of the shooting device bracket is combined with the slide rail, and the linkage of the handheld PTZ and the slide rail is realized through the control terminal, which can combine the advantages of the handheld PTZ and the slide rail device, expand the use scenarios of the two, and facilitate users to choose and use. Make shooting more diverse.
  • the embodiments of the present invention also provide a pan-tilt system, which adopts the following technical solutions.
  • Figure 3A shows the PTZ status as PTZ 2 and can be used as a hand-held PTZ.
  • Figure 3B shows that part of the handle of the hand-held PTZ can be removed so that it can be used as a slide. PTZ device connected to the rail.
  • a pan/tilt system as shown in Figure 2, includes a controller, a pan/tilt 2, and a slide rail 3; a photographing device 1 is at least partially mounted on the pan/tilt 2; the pan/tilt 2 is mounted on the slide rail 3, And establish a wired or wireless connection with the controller; the controller is used to obtain information input by the user and generate a control signal according to the input information to control the attitude change of the pan/tilt 2 and/or the movement of the pan/tilt 2 relative to the slide rail 3.
  • the pan/tilt 2 can also be used as a hand-held stabilizer in scenarios where the slide rail 3 is not suitable, when the pan/tilt 2 equipped with the camera 1 is applied to the slide rail 3 for shooting.
  • the controller obtains the information input by the user and generates a control signal according to the input information to control the cloud
  • the posture of the platform 2 changes and/or the platform 2 moves relative to the slide rail 3 to realize the linkage of the platform 2 and the slide rail 3.
  • the pan/tilt system also includes an inertial measurement sensor and a Hall sensor.
  • the inertial measurement sensor is directly installed on the pan/tilt 2 to form a part of the pan/tilt 2.
  • the inertial measurement sensor is an accelerometer and a gyroscope. It is used to obtain the angular velocity and acceleration of each rotation axis of the gimbal 2; Hall sensors are used to obtain the angle of each motor of the gimbal 2 and the angle of each motor of the slide rail 3.
  • the controller is used to generate a control signal of the pan/tilt head 2 and perform feedback correction on the measured attitude corresponding to the current attitude information of the pan/tilt head 2 to achieve the target attitude.
  • the controller calculates the measurement posture of the pan/tilt head 2 according to the angular velocity of the rotation axis of the pan/tilt head 2, the acceleration of the rotation axis, and the rotation angle of the motor.
  • the angular velocity of the rotating shaft and the acceleration of the rotating shaft are obtained by inertial measurement sensors.
  • the inertial measurement sensors are accelerometers and gyroscopes, which are used to obtain the angular velocity and acceleration of each rotating axis of the pan-tilt 2;
  • the rotation angle of the motor of stage 2 is acquired by the Hall sensor.
  • the controller obtains the information input by the user and generates control information of the PTZ 2, the controller generates the target posture of the PTZ 2 according to the control information of the PTZ 2, and the controller obtains the deviation between the target posture and the measured posture, Feedback correction is performed on the measured posture, the angular velocity of the rotating shaft of the PTZ 2 and the acceleration of the rotating shaft, and the rotation angle of the motor of the PTZ 2 are measured by the inertial measurement sensor and the Hall sensor, and finally the deviation is eliminated and the measured posture reaches the target posture.
  • the controller is used to generate a control signal of the sliding rail 3 to control the movement of the pan-tilt 2 on the sliding rail 3 and/or the lifting of the sliding rail 3.
  • the controller obtains the information input by the user and generates control information for the motion of the slide rail 3.
  • the motion of the slide rail 3 includes the movement of the pan/tilt 2 on the slide 3 and the lifting of the slide 3, and the pan/tilt 2 is equipped with a camera 1
  • the controller controls the pan/tilt 2 to move on the slide rail 3 and controls the slide rail 3 to rise and fall to adjust the height and position of the camera 1.
  • the controller is also used to generate a control signal of the photographing device 1 to control the photographing device 1 to perform photographing and/or function selection of the photographing device 1.
  • It also includes terminal equipment that communicates with the pan-tilt system and/or its own accessories of the pan-tilt system to set the parameters of the pan-tilt system.
  • the terminal device is a mobile phone or a PC
  • the own accessory is a parameter adjustment screen.
  • the parameters of the PTZ system are set by the assistant software.
  • the assistant software receives the information obtained by the controller.
  • Both the PTZ 2 and the slide rail 3 can communicate with the assistant software and can use terminal devices such as mobile phones or PCs. Set the parameters of the PTZ 2 and the slide rail 3, and be able to read the real-time angle of the rotating shaft and the position information of the slide rail 3, or use the own accessories of the PTZ system such as the parameter adjustment screen to achieve the above functions.
  • the assistant software sets the various parameters of the PTZ 2 and the slide rail 3, click the start button, the PTZ 2 and the slide rail 3 move according to the preset path and parameters, and the PTZ 2 itself is rotated.
  • the rotation information includes the total number of turns of the PTZ 2, the total angle of rotation, angular velocity, communication status, and rotation path, etc.
  • the parameters of the pan-tilt system are at least one of the rotation data of the rotating shaft of the pan-tilt 2, the movement data of the pan-tilt 2 on the slide rail 3, and the lift data of the slide rail 3.
  • the rotation data of the rotation axis of the PTZ 2 corresponds to the change of the PTZ 2
  • the movement data of the PTZ 2 on the slide rail and the lifting data of the slide 3 correspond to the motion of the slide 3, that is, the motion of the slide 3 includes the pan 2 Move on the slide rail 3 and lift the slide rail 3.
  • the gimbal 2 and the slide rail 3 move according to the preset path and parameters. Through the posture change of the gimbal 2, the movement of the gimbal 2 on the slide rail 3 and the lifting of the slide rail 3 itself, the multi-position, Multi-angle shooting.
  • the rotation data of the rotation axis of the PTZ 2 includes at least one of the following:
  • the rotation axis may be at least one of a roll axis, a pitch axis, and a translation axis.
  • the movement data of the PTZ 2 on the slide rail 3 includes at least one of the following:
  • the lifting data of the slide rail 3 includes at least one of the following:
  • the parameters of the pan-tilt system further include at least one of the working mode of the pan-tilt 2, the function selection of the pan-tilt 2, the function selection of the photographing device 1, and the user-defined parameter setting.
  • It also includes a remote control device that communicates with the controller to send a remote control signal to the controller.
  • the remote control device includes at least one of a pan/tilt control lever, a camera control button, and an action button of a slide rail.
  • the remote control signal includes the rotation of the rotation axis of the pan/tilt 2, the selection of the working mode of the pan/tilt 2, the selection of the function of the pan/tilt 2, the movement of the pan/tilt 2 on the slide rail 3, and the lifting of the slide rail 3. , At least one of the execution of shooting by the camera 1 and the selection of the functions of the camera 1.
  • the PTZ system can communicate with the terminal equipment, its own accessories, and remote control devices through a wireless communication module.
  • the controller detects the operations performed by the user on the terminal equipment, its own accessories, and remote control devices, and generates control signals through
  • the wireless communication module is sent to the pan-tilt system to control the movement of the pan-tilt system.
  • the wireless communication module includes at least one of a Bluetooth module, an infrared module, an ultra-wideband UWB module, and a wireless fidelity Wi-Fi module.
  • the slide rail 3 and the pan/tilt 2 are detachably assembled.
  • the pan/tilt 2 equipped with the camera 1 is applied to the slide rail 3 for shooting. It can also be used in scenarios that are not suitable for the slide rail 3.
  • the other part including the motor and the camera bracket is combined with the slide rail 3.
  • the gimbal 2 and the slide rail 3 are connected by wired or wireless means, and pass The control end realizes the linkage of the handheld PTZ and the slide rail 3.
  • the pan/tilt head 2 can be used as a handheld pan/tilt independently of the pan/tilt system.
  • the pan/tilt head 2 is a three-axis pan/tilt, and the three-axis pan/tilt includes three rotating shafts and three Motors, the three motors are respectively used to drive three rotating shafts to rotate.
  • the pan/tilt 2 is a two-axis pan/tilt.
  • the two-axis pan/tilt includes two rotating shafts and two motors. The two motors are used to drive the two rotating shafts to rotate.
  • the pan/tilt system provided in this application combines the pan/tilt 2 and the slide rail 3, and the pan/tilt 2 and the slide rail 3 are linked.
  • the pan/tilt 2 equipped with the camera 1 is applied to the slide rail 3 for shooting , It can also be used as a handheld stabilizer in the use scenes that are not suitable for slide 3, to solve the technical problem that the existing handheld pan/tilt and slide shooting device cannot be compatible, interchanged, and work together.
  • the other part including the motor and the camera bracket is combined with the slide rail 3, and the linkage of the handheld PTZ 2 and the slide rail 3 is realized through the control terminal, which can combine the advantages of the handheld PTZ and the slide rail device, and expand the two The scene of the photographer is convenient for users to choose and use, making the shooting more diverse

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
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Abstract

一种云台系统的控制方法及云台系统，云台系统包括控制器、云台（2）以及滑轨（3），云台（2）为两轴或三轴云台，云台（2）与云台系统的其他元件可拆卸并在拆卸后可单独作为手持云台使用，云台（2）安装于滑轨（3）上，且与控制器建立有线或无线连接；控制器获取用于输入的信息并根据输入的信息生成控制信号，控制云台（2）姿态变化和/或云台（2）相对滑轨（3）动作。该方法及系统能够结合手持云台与滑轨装置的优势，扩大两者的使用场景。

Description

云台系统的控制方法及云台系统 【技术领域】
本申请涉及云台控制技术领域，特别涉及一种云台系统的控制方法及云台系统。
【背景技术】
手持云台因其能够使搭载在其上的负载保持稳定姿态，用于拍摄作业时能够拍出流畅而不抖动的画面而受到广泛的使用。其上搭载的负载，如摄像机、照拍摄装置、智能手机等，其使用场景一般需要用户通过双手或单手握持、或通过配套支架辅助静立在某平面上拍摄装置。虽然手持云台具有一定的便携性，但是仅靠用户手持拍摄或支架辅助的静立拍摄已经无法满足更专业的拍摄需求。而对于更专业的拍摄，例如拍摄广告、电视剧、电影以及其它类似作品时，大多数需要使用到滑轨拍摄装置，但是滑轨拍摄装置整体结构复杂、体积庞大、笨重且不便携带，需要专门的控制装置对整个滑轨拍摄装置进行控制并且还需要进行专业调试后才能进行拍摄，难以普遍使用。但越来越多的拍摄者在拍摄时为了获得更优质的画面，既要用到手持云台，也要用到滑轨拍摄装置。而传统的上述两种设备之间没有兼容性，也无法进行互换或协同工作，用户使用起来需要在二者间切换，非常不便。
【发明内容】
本发明的目的在于提供一种云台系统的控制方法及云台系统，解决现有的手持云台与滑轨拍摄装置无法兼容、互换、协同工作的技术问题，将手持云台的部分手柄卸下后，另一包含电机及拍摄装置支架的部分与滑轨结合，并通过控制端实现手持云台与滑轨的联动，能够结合手持云台与滑轨装置的优势，扩大二者的使用场景。
为了解决以上提出的问题，本发明实施例第一方面提供了一种云台系统的控制方法：
所述云台系统包括控制器、云台以及滑轨，所述云台为两轴或三轴云台，所述云台与所述云台系统的其他元件可拆卸并在拆卸后可单独作为手持云台使用，所述控制方法具体包括：所述云台安装于所述滑轨上，且与所述控制器建立有线或无线连接；所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作。
控制所述云台姿态变化和/或所述云台相对所述滑轨动作为了解决以上提出的技术问题，本发明实施例还提供了一种云台系统,采用了如下所述的技术方案：
一种云台系统，包括控制器、云台以及滑轨，所述云台为两轴或三轴云台，所述云台与所述云台系统的其他元件可拆卸并在拆卸后可单独作为手持云台使用；拍摄装置至少部分搭载在所述云台上；所述云台安装于所述滑轨上，且与所述控制器建立有线或无线连接；所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作。
控制所述云台姿态变化和/或所述云台相对所述滑轨动作与现有技术相比，本发明实施例主要有以有益下效果：
一种云台系统的控制方法及云台系统，将云台与滑轨结合，云台与滑轨实现联动，在有需要时将搭载有拍摄装置的云台应用于滑轨上进行拍摄，在不适合滑轨的使用场景中也可作为手持稳定器使用，解决现有的手持云台与滑轨拍摄装置无法兼容、互换、协同工作的技术问题，将手持云台的部分手柄卸下后，另一包含电机及拍摄装置支架的部分与滑轨结合，并通过控制端实现手持云台与滑轨的联动，能够结合手持云台与滑轨装置的优势，扩大二者的使用场景，方便用户选择和使用，使拍摄更具多元性。
【附图说明】
为了更清楚地说明本发明的方案，下面将对实施例描述中所需要使用的附图作一个简单介绍，显而易见地，下面描述中的附图是本发明的一些实施例， 对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例中云台系统的控制方法的流程框图；
图2为本发明实施例中云台系统的结构示意图；
图3A为本发明实施例中云台的结构示意图；
图3B为本发明实施例中云台的另一种形式的结构示意图。
附图标记说明：
1、拍摄装置；2、云台；3、滑轨。
【具体实施方式】
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本发明的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排它的包含。本发明的说明书和权利要求书或上述附图中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本发明的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
本申请实施例提供一种云台系统的控制方法，该方法中可以先将云台安装于滑轨上，使云台且与控制器建立有线或无线连接。再通过控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对于滑轨动作。具体的，该云台系统包括控制器、云台以及滑轨。其中云台既可以是两轴云台也可以是三轴云台。两轴云台可以是包括俯仰轴电机、横滚轴电机的两轴云台，也可以是包括偏航轴电机、俯仰轴电机的两轴云台，还 可以是包括偏航轴电机、横滚轴电机的两轴云台。而三轴云台则可以是包括偏航轴电机、俯仰轴电机以及横滚轴电机的三轴云台。而上述的云台可以独立于云台系统单独作为使用，例如直接作为手持云台使用，也可以作为无人机、移动小车的负载使用。
在本实施例中，将云台与滑轨结合，云台与滑轨实现联动，在有需要时将搭载有拍摄装置的云台应用于滑轨上进行拍摄，在不适合滑轨的使用场景中也可作为手持稳定器使用，解决现有的手持云台与滑轨拍摄装置无法兼容、互换、协同工作的技术问题。将手持云台的部分手柄卸下后，另一包含电机及拍摄装置支架的部分与滑轨结合，并通过控制端实现手持云台与滑轨的联动，能够结合手持云台与滑轨装置的优势，扩大二者的使用场景，方便用户选择和使用，使拍摄更具多元性。
本申请的另一实施例还提供一种云台系统，该系统包括控制器、云台以及滑轨。所述云台为两轴或三轴云台，所述云台与所述云台系统的其他元件可拆卸并在拆卸后可单独作为手持云台使用；拍摄装置至少部分搭载在所述云台上；所述云台安装于所述滑轨上，且与所述控制器建立有线或无线连接；所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作。
为了使本领域技术人员更好地理解本发明方案，下面将参照相关附图，对本发明实施例中的技术方案进行清楚、完整地描述。
实施例一
一种云台系统的控制方法，所述云台系统包括控制器、云台以及滑轨，所述云台为两轴或三轴云台，所述云台与所述云台系统的其他元件可拆卸并在拆卸后可单独作为手持云台使用，如图1所示，所述控制方法包括：
S10,所述云台安装于所述滑轨上，且与所述控制器建立有线或无线连接；
S20,所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作。
手持云台上可以承载负载(例如拍摄装置)，用于负载的固定，改变负载的高度、倾角和/或方向，或者用于负载稳定保持在确定的姿态上。本发明实施例的手持云台也可以用于承载非拍摄装置的其它设备。本申请的手持云台也可以是具有其它的名字，例如，负载支持架等，本申请实施例对此不作具体限定。
本发明实施例中，云台在不适合滑轨的使用场景中也可作为手持稳定器使用，在需要将搭载有拍摄装置的云台应用于滑轨上进行拍摄时，将云台与滑轨结合，云台安装于滑轨上，云台与滑轨通过有线或无线的方式建立连接，并通过控制端实现手持云台与滑轨的联动。
具体的，将手持云台的部分手柄卸下后，另一包含电机及拍摄装置支架的部分与滑轨结合，控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作，实现手持云台与滑轨的联动。
步骤S20中，所述控制云台姿态变化，具体包括：
S201,生成所述云台的控制信号；
S202，对所述云台的当前姿态信息对应的测量姿态进行反馈修正，达到目标姿态。
所述测量姿态是根据云台的转轴的角速度、转轴的加速度、云台的电机的转动角度计算，转轴的角速度和转轴的加速度通过惯性测量传感器获取。本发明实施例中，惯性测量传感器为加速度计和陀螺仪，用于获取云台每个转轴的角速度及加速度；云台的电机的转动角度由霍尔传感器获取。
具体的，控制器获取用户输入的信息，并生成云台的控制信息，控制器根据云台的控制信息生成云台的目标姿态，控制器获取目标姿态与测量姿态之间的偏差，对测量姿态进行反馈修正，由惯性测量传感器和霍尔传感器测量云台的转轴的角速度、转轴的加速度、云台的电机的转动角度，最终消除偏差，使测量姿态达到目标姿态。
步骤S20中，所述控制所述云台相对所述滑轨动作，具体包括：
S203,生成所述滑轨的控制信号；
S204,控制所述云台在滑轨上移动和/或所述滑轨升降。
具体的，控制器获取用户输入的信息，生成滑轨动作的控制信息，滑轨动作包括云台在滑轨上移动和滑轨的升降，云台上搭载有拍摄装置时，控制器控制云台在滑轨上移动及控制滑轨升降，以调节拍摄装置的高度和位置。
在一些实施例中，云台在滑轨上移动，通过设置驱动机构(如电机、气缸等)带动传动机构(如丝杆、齿轮组、涡轮组等)，以带动云台运动，滑轨升降通过升降机构实现。
步骤S20，所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作还包括：
S205,控制拍摄装置执行拍摄和/或拍摄装置功能选择。
在一些实施例中，步骤S20，所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作,具体包括：
S206,所述控制器接收终端设备和/或云台系统的自身配件输入的信息，以设置云台系统的参数。
在一些实施例中，所述终端设备为手机或者PC，所述自身配件为调参屏。
具体的，云台系统的参数由调参软件进行设置，调参软件接收控制器所获取的信息，云台和滑轨均能与调参软件进行通讯，能够使用终端设备如手机或者PC设置云台和滑轨的参数，并能够读取转轴的实时角度和滑轨位置信息，或者使用云台系统的自身配件如调参屏，也能实现如上功能。
调参软件将云台和滑轨转动的各个参数进行设置后，点击开始按钮后，云台和滑轨按照预先设定路径和参数进行运动，并且将云台自身转动的信息发送给调参软件，转动信息包括云台转过的总圈数、转过的总角度、角速度、通讯情况和转动路径等。
本发明实施例中，所述云台系统的参数为云台的转轴的转动数据、云台在 滑轨上的移动数据、滑轨的升降数据中的至少一种。
云台的转轴的转动数据与云台姿态变化相对应，云台在滑轨上的移动数据和滑轨的升降数据与滑轨动作相对应，即滑轨动作包括云台在滑轨上移动和滑轨的升降，在调参软件上设置好云台的转轴的转动数据、云台在滑轨上的移动数据、滑轨的升降数据后，云台和滑轨按照预先设定路径和参数进行运动，通过云台的姿态变化、云台在滑轨上的移动及滑轨自身的升降，实现拍摄装置多位置、多角度的拍摄。
本发明实施例中，所述云台的转轴的转动数据包括如下至少一种：
转动的方向、转动的角度、转动的速度、转动的加速度、云台的电机的扭矩，所述转轴可以为横滚轴、俯仰轴、平移轴中的至少一种。
本发明实施例中，所述云台在滑轨上的移动数据包括如下至少一种：
移动的方向、移动的速度、移动的轨迹、滑轨的电机的扭矩。
本发明实施例中，所述滑轨的升降数据包括如下至少一种：
升降的方向、升降的速度、升降的轨迹、滑轨的电机的扭矩。
通过对云台的转轴的转动数据、云台在滑轨上的移动数据及滑轨的升降数据的设置，云台和滑轨按照预先设定路径和参数进行运动，使拍摄装置位置和角度的调整更灵活。
本发明实施例中，所述云台系统的参数还包括云台的工作模式、云台的功能选择、拍摄装置的功能选择、用户自定义参数设置中的至少一种。
在其他一些实施例中，步骤S20，所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作，具体包括：
S207,所述控制器接收遥控装置的遥控信号，以得到输入的信息。具体的，遥控装置接收到用户输入的遥控信号，遥控装置与控制器通过有线或者无线连接，控制器接收到用户输入的信息，以控制云台姿态变化、云台在滑轨上移动及滑轨的升降。
在一些实施例中，所述遥控装置包括云台控制遥杆、拍摄装置控制按键、滑轨的动作按钮中的至少一种。
本发明实施例中，所述遥控信号包括云台转轴的转动、云台的工作模式的选择、云台功能的选择、云台在滑轨上的移动、滑轨的升降、拍摄装置拍摄的执行、拍摄装置功能的选择中的至少一种。
在一些实施例中，所述云台系统与终端设备、自身配件、遥控装置可通过无线通信模块进行通信，控制器检测用户对终端设备、自身配件、遥控装置执行的操作，生成控制信号，通过无线通信模块发送给云台系统，以控制云台系统动作。
在一些实施例中，所述无线通信模块包括蓝牙模块、红外模块、超宽带UWB模块、无线保真Wi-Fi模块中的至少一种。
步骤S20,所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作之后，还包括：
S208,云台和滑轨按照设定路径和参数进行运动，并且将云台和滑轨运动的信息发送给控制器；
S209,控制器对云台和滑轨运动的信息进行保存，以在下一次运行时进行调用。
云台和滑轨每一次按照设定路径和参数进行运动后，控制器接收云台和滑轨运动的信息，控制器对滑轨和云台运行过的路径和参数进行保存，通过这种方式实现参数的预存，在下一次运行时调用保存的参数，实现高度的可重复性拍摄可能。
本发明实施例中，所述云台和滑轨运动的信息包括云台转过的总圈数、云台转过的总角度、云台转动的角速度、云台的转动路径、云台在滑轨上的移动速度、云台在滑轨上的移动路径、滑轨的升降速度、滑轨的升降路径、通信情况中的至少一种。
本申请提供的云台系统的控制方法，解决现有的手持云台与滑轨拍摄装置 无法兼容、互换、协同工作的技术问题，将手持云台的部分手柄卸下后，另一包含电机及拍摄装置支架的部分与滑轨结合，并通过控制端实现手持云台与滑轨的联动，能够结合手持云台与滑轨装置的优势，扩大二者的使用场景，方便用户选择和使用，使拍摄更具多元性。
为了解决以上提出的技术问题，本发明实施例还提供了一种云台系统,采用了如下所述的技术方案。
请参阅图3A和图3B，图3A展示的云台状态为云台2此时可以作为手持云台使用，图3B所示的是可以将手持云台的一部分手柄卸下使其能够作为与滑轨连接的云台装置。
一种云台系统，如图2所示，包括控制器、云台2、滑轨3；拍摄装置1至少部分搭载在所述云台2上；云台2安装于所述滑轨3上，且与所述控制器建立有线或无线连接；控制器用于获取用户输入的信息并根据输入的信息生成控制信号，控制云台2姿态变化和/或云台2相对滑轨3动作。
本发明实施例中，云台2在不适合滑轨3的使用场景中也可作为手持稳定器使用，在需要将搭载有拍摄装置1的云台2应用于滑轨3上进行拍摄时。具体的，将手持云台的部分手柄卸下后，另一包含电机及拍摄装置支架的部分与滑轨3结合，控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台2姿态变化和/或所述云台2相对所述滑轨3动作，实现云台2与滑轨3的联动。
所述云台系统还包括惯性测量传感器和霍尔传感器。
其中，为获得云台2的实时状态及运动状态数据，惯性测量传感器直接安装在云台2上，构成云台2组成的一部分，本发明实施例中，惯性测量传感器为加速度计和陀螺仪，用于获取云台2每个转轴的角速度及加速度；霍尔传感器，用于获取云台2每个电机的角度和滑轨3每个电机的角度。
所述控制器用于生成云台2的控制信号，对所述云台2的当前姿态信息对应的测量姿态进行反馈修正，达到目标姿态。
所述控制器根据云台2的转轴的角速度、转轴的加速度、电机的转动角度，计算所述云台2的测量姿态。
本发明实施例中，转轴的角速度和转轴的加速度通过惯性测量传感器获取，本发明实施例中，惯性测量传感器为加速度计和陀螺仪，用于获取云台2每个转轴的角速度及加速度；云台2的电机的转动角度由霍尔传感器获取。
具体的，控制器获取用户输入的信息，并生成云台2的控制信息，控制器根据云台2的控制信息生成云台2的目标姿态，控制器获取目标姿态与测量姿态之间的偏差，对测量姿态进行反馈修正，由惯性测量传感器和霍尔传感器测量云台2的转轴的角速度、转轴的加速度、云台2的电机的转动角度，最终消除偏差，使测量姿态达到目标姿态。
所述控制器用于生成滑轨3的控制信号，控制所述云台2在滑轨3上移动和/或所述滑轨3升降。
具体的，控制器获取用户输入的信息，生成滑轨3动作的控制信息，滑轨3动作包括云台2在滑轨3上移动和滑轨3的升降，云台2上搭载有拍摄装置1时，控制器控制云台2在滑轨3上移动及控制滑轨3升降，以调节拍摄装置1的高度和位置。
所述控制器还用于生成拍摄装置1的控制信号，控制所述拍摄装置1执行拍摄和/或拍摄装置1功能选择。
还包括与所述云台系统通信的终端设备和/或云台系统的自身配件，以设置所述云台系统的参数。
在一些实施例中，所述终端设备为手机或者PC，所述自身配件为调参屏。
具体的，云台系统的参数由调参软件进行设置，调参软件接收控制器所获取的信息，云台2和滑轨3均能与调参软件进行通讯，能够使用终端设备如手机或者PC设置云台2和滑轨3的参数，并能够读取转轴的实时角度和滑轨3位置信息，或者使用云台系统的自身配件如调参屏，也能实现如上功能。
调参软件将云台2和滑轨3转动的各个参数进行设置后，点击开始按钮后， 云台2和滑轨3按照预先设定路径和参数进行运动，并且将云台2自身转动的信息发送给调参软件，转动信息包括云台2转过的总圈数、转过的总角度、角速度、通讯情况和转动路径等。
所述云台系统的参数为云台2的转轴的转动数据、云台2在滑轨3上的移动数据、滑轨3的升降数据中的至少一种。
云台2的转轴的转动数据与云台2姿态变化相对应，云台2在滑轨上的移动数据和滑轨3的升降数据与滑轨3动作相对应，即滑轨3动作包括云台2在滑轨3上移动和滑轨3的升降，在调参软件上设置好云台2的转轴的转动数据、云台2在滑轨3上的移动数据、滑轨3的升降数据后，云台2和滑轨3按照预先设定路径和参数进行运动，通过云台2的姿态变化、云台2在滑轨3上的移动及滑轨3自身的升降，实现拍摄装置1多位置、多角度的拍摄。
本发明实施例中，所述云台2的转轴的转动数据包括如下至少一种：
转动的方向、转动的角度、转动的速度、转动的加速度、云台2的电机的扭矩。
在一些实施例中，所述转轴可以为横滚轴、俯仰轴、平移轴中的至少一种。
本发明实施例中，所述云台2在滑轨3上的移动数据包括如下至少一种：
移动的方向、移动的速度、移动的轨迹、滑轨3的电机的扭矩。
本发明实施例中，所述滑轨3的升降数据包括如下至少一种：
升降的方向、升降的速度、升降的轨迹、滑轨3的电机的扭矩。
本发明实施例中，所述云台系统的参数还包括云台2的工作模式、云台2的功能选择、拍摄装置1的功能选择、用户自定义参数设置中的至少一种。
还包括遥控装置，与所述控制器进行通信，以对控制器发出遥控信号。
在一些实施例中，所述遥控装置包括云台控制遥杆、拍摄装置控制按键、滑轨的动作按钮中的至少一种。
本发明实施例中，所述遥控信号包括云台2转轴的转动、云台2的工作模式的选择、云台2功能的选择、云台2在滑轨3上的移动、滑轨3的升降、拍 摄装置1拍摄的执行、拍摄装置1功能的选择中的至少一种。
在一些实施例中，所述云台系统与终端设备、自身配件、遥控装置可通过无线通信模块进行通信，控制器检测用户对终端设备、自身配件、遥控装置执行的操作，生成控制信号，通过无线通信模块发送给云台系统，以控制云台系统动作。
在一些实施例中，所述无线通信模块包括蓝牙模块、红外模块、超宽带UWB模块、无线保真Wi-Fi模块中的至少一种。
所述滑轨3与云台2可拆卸式装配，在有需要时将搭载有拍摄装置1的云台2应用于滑轨3上进行拍摄，在不适合滑轨3的使用场景中也可作为手持稳定器使用，将手持云台的部分手柄卸下后，另一包含电机及拍摄装置支架的部分与滑轨3结合，云台2与滑轨3通过有线或无线的方式建立连接，并通过控制端实现手持云台与滑轨3的联动。
在一些实施例中，所述云台2独立于所述云台系统可单独作为手持云台使用，所述云台2为三轴云台，所述三轴云台包括三个转轴和三个电机，所述三个电机分别用于驱动三个转轴转动。
在其他一些实施例中，所述云台2为两轴云台，所述两轴云台包括两个转轴和两个电机，所述两个电机分别用于驱动两个转轴转动。
本申请提供的云台系统，将云台2与滑轨3结合，云台2与滑轨3实现联动，在有需要时将搭载有拍摄装置1的云台2应用于滑轨3上进行拍摄，在不适合滑轨3的使用场景中也可作为手持稳定器使用，解决现有的手持云台与滑轨拍摄装置无法兼容、互换、协同工作的技术问题，将手持云台的部分手柄卸下后，另一包含电机及拍摄装置支架的部分与滑轨3结合，并通过控制端实现手持云台2与滑轨3的联动，能够结合手持云台与滑轨装置的优势，扩大二者的使用场景，方便用户选择和使用，使拍摄更具多元性
显然，以上所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例，附图中给了本发明的较佳实施例，但并不限制本发明的专利范围。本发 明可以以许多不同的形式来实现，相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员而言，其依然可以对前述各具体实施方式所记载的技术方案进行修改，或者对其中部分技术特征进行等效替换。凡是利用本发明说明书及附图内容所做的等效结构，直接或间接运用在其他相关的技术领域，均同理在本发明专利保护范围之内。

Claims (22)

  1. 一种云台系统的控制方法，其特征在于，所述云台系统包括控制器、云台以及滑轨，所述云台为两轴或三轴云台，所述云台与所述云台系统的其他元件可拆卸并在拆卸后可单独作为手持云台使用，所述控制方法包括：
    所述云台安装于所述滑轨上，且与所述控制器建立有线或无线连接；
    所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作。
  2. 根据权利要求1所述的云台系统的控制方法，其特征在于，
    所述控制云台姿态变化，具体包括：
    生成所述云台的控制信号；
    对所述云台的当前姿态信息对应的测量姿态进行反馈修正，达到目标姿态。
  3. 根据权利要求2所述的云台系统的控制方法，其特征在于，
    所述测量姿态是根据云台的转轴的角速度、转轴的加速度、云台的电机的转动角度计算。
  4. 根据权利要求1所述的云台系统的控制方法，其特征在于，
    所述控制所述云台相对所述滑轨动作，具体包括：
    生成所述滑轨的控制信号；
    控制所述云台在滑轨上移动和/或所述滑轨升降。
  5. 根据权利要求1所述的云台系统的控制方法，其特征在于，
    所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作还包括：
    控制拍摄装置执行拍摄和/或拍摄装置功能选择。
  6. 根据权利要求1-5任意一项所述的云台系统的控制方法，其特征在于，
    所述控制器获取用户输入的信息并根据输入的信息生成控制信号,具体包括：
    所述控制器接收终端设备和/或云台系统的自身配件输入的信息，以设置云 台系统的参数。
  7. 根据权利要求6所述的云台系统的控制方法，其特征在于，
    所述云台系统的参数为云台的转轴的转动数据、云台在滑轨上的移动数据、滑轨的升降数据中的至少一种。
  8. 根据权利要求7所述的云台系统的控制方法，其特征在于，
    所述云台的转轴的转动数据包括如下至少一种：
    转动的方向、转动的角度、转动的速度、转动的加速度、云台的电机的扭矩；
    所述云台在滑轨上的移动数据包括如下至少一种：
    移动的方向、移动的速度、移动的轨迹、滑轨的电机的扭矩；
    所述滑轨的升降数据包括如下至少一种：
    升降的方向、升降的速度、升降的轨迹、滑轨的电机的扭矩。
  9. 根据权利要求6所述的云台系统的控制方法，其特征在于，
    所述云台系统的参数还包括云台的工作模式、云台的功能选择、拍摄装置的功能选择、用户自定义参数设置中的至少一种。
  10. 根据权利要求6所述的云台系统的控制方法，其特征在于，
    所述控制器获取用户输入的信息并根据输入的信息生成控制信号，具体包括：
    所述控制器接收遥控装置的遥控信号，以得到输入的信息。
  11. 根据权利要求10所述的云台系统的控制方法，其特征在于，
    所述遥控信号包括云台转轴的转动、云台的工作模式的选择、云台功能的选择、云台在滑轨上的移动、滑轨的升降、拍摄装置拍摄的执行、拍摄装置功能的选择中的至少一种。
  12. 根据权利要求6所述的云台系统的控制方法，其特征在于，
    所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作之后，还包括：
    云台和滑轨按照设定路径和参数进行运动，并且将云台和滑轨运动的信息发送给控制器；
    控制器对云台和滑轨运动的信息进行保存，以在下一次运行时进行调用。
  13. 根据权利要求12所述的云台系统的控制方法，其特征在于，
    所述云台和滑轨运动的信息包括云台转过的总圈数、云台转过的总角度、云台转动的角速度、云台的转动路径、云台在滑轨上的移动速度、云台在滑轨上的移动路径、滑轨的升降速度、滑轨的升降路径、通信情况中的至少一种。
  14. 一种云台系统，其特征在于，
    包括控制器、云台以及滑轨，所述云台为两轴或三轴云台，所述云台与所述云台系统的其他元件可拆卸并在拆卸后可单独作为手持云台使用；
    拍摄装置至少部分搭载在所述云台上；
    所述云台安装于所述滑轨上，且与所述控制器建立有线或无线连接；
    所述控制器获取用户输入的信息并根据输入的信息生成控制信号，控制所述云台姿态变化和/或所述云台相对所述滑轨动作。
  15. 根据权利要求14所述的云台系统，其特征在于，
    所述控制器用于生成云台的控制信号，对所述云台的当前姿态信息对应的测量姿态进行反馈修正，达到目标姿态；
    所述控制器用于生成滑轨的控制信号，控制所述云台在滑轨上移动和/或所述滑轨升降；
    所述控制器还用于生成拍摄装置的控制信号，控制所述拍摄装置执行拍摄和/或拍摄装置功能选择。
  16. 根据权利要求14所述的云台系统，其特征在于，
    还包括与所述云台系统通信的终端设备和/或云台系统的自身配件，以设置所述云台系统的参数。
  17. 根据权利要求16所述的云台系统，其特征在于，
    还包括遥控装置，与所述控制器进行通信，以对控制器发出遥控信号。
  18. 根据权利要求17所述的云台系统，其特征在于，
    所述遥控装置包括云台控制遥杆、拍摄装置控制按键、滑轨的动作按钮中的至少一种。
  19. 根据权利要求17所述的云台系统，其特征在于，
    所述云台系统与终端设备、自身配件、遥控装置通过无线通信模块进行通信，控制器检测用户对终端设备、自身配件、遥控装置执行的操作，生成控制信号，通过无线通信模块发送给云台系统，以控制云台系统动作。
  20. 根据权利要求14-19任意一项所述的云台系统，其特征在于，
    所述滑轨与云台可拆卸式装配。
  21. 根据权利要求14-19任意一项所述的云台系统，其特征在于，
    所述云台为三轴云台，所述三轴云台包括三个转轴和三个电机，所述三个电机分别用于驱动三个转轴转动；或者所述云台为两轴云台，所述两轴云台包括两个转轴和两个电机，所述两个电机分别用于驱动两个转轴转动。
  22. 根据权利要求21所述的云台系统，其特征在于，
    还包括：
    惯性测量传感器，用于获取云台每个转轴的角速度及加速度；
    霍尔传感器，用于获取云台每个电机的角度和滑轨每个电机的角度；
    所述控制器根据云台的转轴的角速度、转轴的加速度、电机的转动角度，计算所述云台的测量姿态。
PCT/CN2019/090467 2019-06-10 2019-06-10 云台系统的控制方法及云台系统 Ceased WO2020248086A1 (zh)

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